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\author{Joel Howard, Kevin Johnson}
\title{Grid Lab}
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\section*{Exploring the World}
In order to effectively explore the world we gave each of our tanks a set of way points to follow. These way points were spread out so that each tank would make a horizontal sweep across the map. Using an A* search we moved our tanks between the way points using the information that our sensors had obtained. Once each tank reached it's final way point we take a quick look at our graph to see if there are any nodes that have not been fully explored. When we find one of those nodes, we send a tank to that spot to finish exploring. Once all nodes have been explored we are finished.

\section*{Variations in Sensor Parameters}
TODO: Talk about what happens when we play with these parameters.

\section*{Using the Grid Filter During the Tournament}
The grid filter will be extremely useful during the final tournament as it will allow us to deal with obstacles as we discover them. This will be very important as we will not be given the ability to simply ask for the obstacles on the board. Our implementation iteratively builds up a better and better understanding of the world so that we can navigate the world effectively.

\section*{Avoiding Getting Stuck}
One complication with this lab was dealing with tanks getting stuck. When several tanks are trying to get to their initial way point they can get stuck in a clump. In order to mitigate this we have code that detects that we are stuck, and backs the tank up and rotates it. This loosens the pack just enough for the tanks to wiggle free and continue on towards their goal.

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